CN113566733A - Line laser vision three-dimensional scanning device and method - Google Patents
Line laser vision three-dimensional scanning device and method Download PDFInfo
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Abstract
The invention discloses a line laser vision three-dimensional scanning device and a line laser vision three-dimensional scanning method. Images acquired by the cameras at different viewing angles are spliced, so that the influence of incomplete image acquisition and noise interference caused by the fact that the images acquired by a single camera are easily influenced by the camera angle and the reflection of the surface of an object is effectively reduced, and the accuracy of three-dimensional reconstruction is improved; the intermediate RGB industrial camera can be used for acquiring color information of the surface of the measured object, and the scanning path is optimized by using the image processing technology, so that the three-dimensional reconstruction of the measured object is facilitated; the array type camera capable of rotating the angle can be used for increasing the depth of field of camera scanning, and parts with different heights can be scanned; by utilizing the rotatable line laser projection device, the large-scale three-dimensional reconstruction of the surface of an object is realized under the condition that the position of the device is not changed, and the problem that the measurement range of the traditional line laser sensor is small is solved.
Description
Technical Field
The invention mainly relates to the technical field of three-dimensional vision sensors, in particular to a line laser vision three-dimensional scanning device and method.
Background
The three-dimensional imaging technology is a research focus in recent years, and is widely applied to the fields of three-dimensional reverse reconstruction, automatic online detection and the like; the linear laser has the advantages of high precision, high speed, small environmental interference and the like, and is widely applied to the field of three-dimensional imaging. The existing line laser technology mainly adopts laser projecting a certain special frequency band, so the imaging process of the line laser technology is not influenced by ambient light. The laser line forms are various, such as a single line laser, a stripe laser, a network laser and the like.
With the rapid development of manufacturing industry, single two-dimensional image information cannot meet the production requirements of the industry, and a three-dimensional scanning system combining line laser and a camera is paid more and more attention. However, the traditional line laser profile sensor can only receive information around a laser line, is easily influenced by a camera shooting angle and the depth of field of the camera, and has a limited measuring range; if the line laser irradiates the surface of the object to be measured, which is easy to reflect light, strong reflected light can be generated, and the acquisition of the laser line information by the camera is influenced; the line laser profile sensor can only acquire three-dimensional point cloud information of the local surface of the measured object, and cannot detect surface defects and identify targets of the measured object.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a line laser vision three-dimensional scanning device and a method, which solve the problem that the traditional line laser sensor has a small measuring range; the method is susceptible to incomplete image acquisition and noise interference caused by camera angle and reflection of object surface; the problem that the traditional monocular line laser sensor can only measure objects with fixed depth of field and fixed visual angle is solved.
In order to achieve the purpose, the invention is realized by the following technical scheme: a line laser vision three-dimensional scanning device comprises a scanning system and a data processing system:
the scanning system comprises a support, a line laser generating device and an imaging device. The middle part of the bracket is fixedly connected with the laser generating device, and the two sides and the middle part of the bracket are respectively and fixedly connected with the imaging device. The imaging devices on the two sides of the support are used for acquiring the imaging of the line laser on the surface of the measured object, and the imaging device in the middle of the support is used for acquiring the RGB image of the measured object.
The data processing system comprises a camera calibration unit, an image processing unit and a three-dimensional reconstruction unit. The camera calibration unit is used for calibrating camera internal parameters and a line laser plane in each imaging device; the image processing unit is used for extracting line laser images shot by the imaging devices on the two sides of the support, splicing the images, and performing surface defect detection and target identification on the detected object by using the image processing unit for three-dimensional reconstruction of the detected object for the acquired RGB images of the detected object; and the three-dimensional reconstruction unit obtains the coordinates of the points on the line laser plane in the world coordinate system according to the relation between the world coordinate system and the camera coordinate systems in the two imaging devices and the equation of the line laser plane in the world coordinate system.
Further, the imaging device is divided into a first imaging device, a second imaging device and a third imaging device, the first imaging device and the second imaging device are distributed on two sides of the support by taking the line laser generating device as an axis, and the third imaging device is installed in the middle of the support.
Further, the first imaging device and the second imaging device are symmetrically arranged around the middle of the bracket, have the same structure and comprise a rotatable bottom plate, a camera, an optical filter and a rotating device. The rotatable bottom plate is fixed on the bracket and is driven to rotate by the rotating device; the camera is fixedly connected to the rotatable bottom plate; an optical filter is installed below the camera.
Furthermore, the rotating device comprises a motor base, a crank, a connecting rod, a fixing plate and a motor, wherein one end of the connecting rod is connected to an optical axis vertical to the rotatable bottom plate through a bearing, the other end of the connecting rod is connected with one end of the crank, and the other end of the crank is connected with the motor, so that the motor drives the crank connecting rod to rotate, and the angle of the camera is adjusted; the motor is fixed on the motor base, the motor base is fixedly connected with the fixing plate, and the fixing plate is fixed on the support.
Further, the third imaging device comprises a third camera and an LED light source. The third camera is positioned in front of the line laser generating device and fixed on the bracket by using a screw, and the LED light source is positioned below the third camera and fixedly connected with the bracket.
Furthermore, the optical filter can filter out other color lights except the line laser color, so that the camera only collects the laser line data.
Further, the line laser generating device comprises a line laser, an upper synchronous belt, a lower synchronous belt, a first synchronous belt wheel, a second synchronous belt wheel, a third synchronous belt wheel, a fourth synchronous belt wheel, a left fixing frame, a right fixing frame, a rotating shaft, a servo motor and an encoder. The servo motor is fixed on the bracket by using the right fixing frame; the tail end of the servo motor is connected with one end of an upper synchronous belt through a first synchronous belt wheel, and the other end of the upper synchronous belt is connected with a rotating shaft through a second synchronous belt wheel and the first synchronous belt wheel; the lower end of the rotating shaft is fixedly connected with the line laser, and the line laser is driven to rotate by a servo motor; the encoder is connected with one end of the lower synchronous belt by a third synchronous belt wheel; the other end of the lower synchronous belt is connected with the rotating shaft through a fourth synchronous belt wheel, and the rotating angle of the rotating shaft is recorded in real time by using an encoder.
Further, the camera calibration unit is divided into calibrating the internal reference and the laser plane of the camera, and firstly, the internal reference calibration of the camera is realized by using a checkerboard calibration method; laser lines are printed on the checkerboards, intersection point coordinates of the laser lines and the checkerboards are extracted through image processing, the positions of the checkerboards are changed to carry out multiple groups of experiments, and since the intersection point coordinates are located on line laser planes, the laser plane equation can be calibrated through a least square method.
Further, the three-dimensional reconstruction unit specifically includes:
if the point P is a point in the world coordinate system, the inhomogeneous coordinates of the point P in the two camera coordinate systems of the first imaging device and the second imaging device are respectively P1And P2. Establishing the relation between the world coordinate system and the camera coordinate system in the first imaging device and the camera coordinate system in the second imaging device according to the following formula:
the equation of the laser plane with the line in the world coordinate system is
z＝ax+by+c
The coordinates of the point on the line laser plane in the world coordinate system can be obtained by combining the above equations.
Wherein a, b and c are parameters of a linear laser plane equation respectively; r1And T1External parameters of a camera in the first imaging device, namely rotation and translation parameters; r2And T2Is an external parameter of the camera in the second imaging device.
The invention also provides a line laser vision three-dimensional scanning method, which specifically comprises the following steps:
and S1, calibrating the imaging device and the line laser plane respectively by using the camera calibration unit and the camera imaging principle to obtain the position of the line laser plane under the camera coordinate system. And obtaining the rotation angle of the line laser plane at any time by using an encoder in the line laser generating device, and further obtaining the position of the line laser plane at any time under a camera coordinate system.
And S2, irradiating the surface of the measured object with line laser by using a line laser generating device, and respectively acquiring a group of images with different viewing angles by using a camera in the first imaging device and a camera in the second imaging device.
And S3, extracting the central line of the laser line in each image by using the image processing unit, and calculating to obtain the three-dimensional coordinates of the laser line on the surface of the measured object according to the position of the line laser plane in the camera coordinate system. The three-dimensional coordinates of the laser line acquired by the camera in the first imaging device and the three-dimensional coordinates of the laser line acquired by the camera in the second imaging device are subjected to data fusion, so that measured objects with different visual angles and different depths of field are measured, the influence of incomplete image acquisition and noise interference caused by the fact that a single camera is easily reflected by the camera angle and the object surface is solved, and the accuracy of three-dimensional reconstruction is improved.
And S4, obtaining coordinates of the point on the line laser plane in the world coordinate system according to the relation between the world coordinate system and the camera coordinate system in the first imaging device and the camera coordinate system in the second imaging device and the equation of the laser plane in the world coordinate system by using the three-dimensional reconstruction unit.
The invention has the beneficial effects that: the invention provides a line laser vision three-dimensional scanning device and a method. The method has the following beneficial effects:
(1) the line laser vision three-dimensional scanning device and the line laser vision three-dimensional scanning method divide the imaging device into a first imaging device and a second imaging device, and the first imaging device and the second imaging device are distributed on two sides by taking the line laser generating device as an axis. The first imaging device and the second imaging device are used for acquiring the imaging of the line laser on the surface of the measured object to respectively obtain a plurality of groups of left images and right images. The images acquired by the cameras at different viewing angles are spliced, so that the influence of incomplete image acquisition and noise interference caused by the fact that the images acquired by a single camera are easily reflected by the camera angle and the object surface can be effectively reduced, and the accuracy of three-dimensional reconstruction is improved;
(2) the intermediate RGB industrial camera can be used for acquiring the color information of the surface of the measured object, the image processing technology is used for realizing the defect detection and object identification of the measured object, the scanning path is optimized, and the three-dimensional reconstruction of the measured object is facilitated;
(3) the camera acquisition range can be enlarged by changing the length of the camera support, so that the three-dimensional scanning device can be suitable for more complex scenes; the array type camera capable of rotating the angle can be used for increasing the depth of field of camera scanning, so that parts with different heights can be scanned under the condition that the camera is fixed;
(4) the rotatable line laser projection device is utilized, the object surface can be subjected to large-range three-dimensional reconstruction under the condition that the position of the device is not changed, and the problem that the measurement range of a traditional line laser sensor is small is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention;
FIG. 1 is a schematic diagram of the overall appearance of a line laser image fusion sensor according to the embodiment of the invention;
FIG. 2 is a schematic view of an image forming apparatus according to the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a line laser generating device according to an embodiment of the present invention;
in the drawings, the names of the components represented by the respective symbols are as follows:
1. a support, 2, a line laser generating device, 3, an imaging device, 21, a line laser, 22, an upper synchronous belt, 23, a lower synchronous belt, 24, a first synchronous pulley, 25, a second synchronous pulley, 26, a third synchronous pulley, 27, a fourth synchronous pulley, 28, a left fixing frame, 29, a right fixing frame, 210, a rotating shaft, 211, a servo motor, 212, an encoder, 31, a first imaging device, 32, a second imaging device, 33, a third imaging device, 311, a first rotatable bottom plate, 312, a first camera, 313, a first optical filter, 314, a first rotating device, 315 a first motor base, 316, a first crank, 317, a first connecting rod, 318, a first fixing plate, 319, a first motor, 321, a second rotatable bottom plate, 322, a second camera, 323, a second optical filter, 324, a second rotating device, 325 a second motor base, 326, a second crank, 327. a second connecting rod 328, a second fixing plate 329, a second motor 331, a third camera 332 and an LED light source.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a technical solution: a line laser vision three-dimensional scanning device comprises a scanning system and a data processing system:
the scanning system comprises three parts, namely a bracket 1, a line laser generating device 2 and an imaging device 3. The middle part of the bracket 1 is fixedly connected with a laser generating device 2, and two sides and the middle part are respectively fixedly connected with an imaging device 3. The imaging devices 3 on the two sides of the support 1 are used for acquiring the imaging of the line laser on the surface of the measured object to respectively obtain the left side image and the right side image of the multiple groups of line laser, and the imaging device 3 in the middle of the support 1 is used for acquiring the RGB image of the measured object.
The imaging device 3 is divided into a first imaging device 31, a second imaging device 32 and a third imaging device 33, the first imaging device 31 and the second imaging device 32 are distributed on two sides of the bracket by taking the line laser generating device 2 as an axis, and the third imaging device 33 is arranged in the middle position of the bracket 1.
As shown in fig. 2, the first imaging device 31 includes a first rotatable base 311, a first camera 312, a first filter 313 and a first rotating device 314. The first rotatable base plate 311 is located at the left side of the bracket 1 and is driven to rotate by the first rotating device 314; the first camera 312 is fixedly connected to the first rotatable base plate 311; a first filter 313 is installed below the first camera 312. The first rotating device 314 comprises a first motor base 315, a first crank 316, a first connecting rod 317, a first fixing plate 318 and a first motor 319, one end of the first connecting rod 317 is connected to an optical axis perpendicular to the first rotatable base plate 311 by a bearing, the other end of the first connecting rod 317 is connected to one end of the first crank 316, and the other end of the first crank 316 is connected to the first motor 319, so that the first motor 319 drives the first crank 316 and the first connecting rod 317 to rotate, thereby adjusting the angle of the first camera 312; the first motor 319 is fixed on the first motor base 315, the first motor base 315 is fixedly connected with the first fixing plate 318, and the first fixing plate 318 is fixed on the left side of the bracket 1.
The second imaging device 32 includes a second rotatable base 321, a second camera 322, a second filter 323, and a second rotating device 324. The second rotatable base plate 321 is located at the right side of the bracket 1 and is driven to rotate by the second rotating device 324; the second camera 312 is fixedly connected to the second rotatable base plate 311; a second filter 313 is installed below the second camera 312. The second rotating device 324 comprises a second motor seat 325, a second crank 326, a second connecting rod 327, a second fixing plate 328 and a second motor 329, wherein one end of the second connecting rod 327 is connected to an optical axis perpendicular to the second rotatable base plate 321 by a bearing, the other end of the second connecting rod 327 is connected to one end of the second crank 326, and the other end of the second crank 326 is connected to the second motor 329, so that the second motor 329 drives the second crank 326 and the second connecting rod 327 to rotate, thereby realizing adjustment of the angle of the second camera 322; the second motor 329 is fixed on the second motor base 325, the second motor base 325 is fixedly connected with the second fixing plate 328, and the second fixing plate 328 is fixed on the right side of the bracket 1.
The third imaging device 33 includes a third camera 331 and an LED light source 332. The third camera 331 is located in front of the line laser generator 2 and fixed to the bracket 1 by screws, and the LED light source 332 is located below the third camera 331 and fixedly connected to the bracket 1.
The first optical filter 313 and the second optical filter 323 can filter out other color lights except the line laser color, so that the camera only collects the laser line data.
As shown in fig. 3, the line laser generator 2 includes a line laser 21, an upper synchronous belt 22, a lower synchronous belt 23, a first synchronous pulley 24, a second synchronous pulley 25, a third synchronous pulley 26, a fourth synchronous pulley 27, a left fixing frame 28, a right fixing frame 29, a rotating shaft 210, a servo motor 211, and an encoder 212. The line laser 21 is visible red light or visible blue light, and the servo motor 211 is fixed on the bracket 1 by using a right fixing frame 29; the end of the servo motor 211 is connected with one end of an upper synchronous belt 22 through a first synchronous belt pulley 24, and the other end of the upper synchronous belt 22 is connected with a rotating shaft 210 through a second synchronous belt pulley 25 and the first synchronous belt pulley 24; the lower end of the rotating shaft 210 is fixedly connected with the line laser 21, and the servo motor 211 is used for driving the line laser 21 to rotate; the encoder 212 is connected with one end of the lower synchronous belt 23 by a third synchronous belt wheel 26; the other end of the lower timing belt 23 is connected to the rotary shaft 210 via a fourth timing pulley 27, and the rotation angle of the rotary shaft 210 is recorded in real time by an encoder 212.
The data processing system comprises a camera calibration unit, an image processing unit and a three-dimensional reconstruction unit. The camera calibration unit is used for calibrating camera internal references and line laser planes in each imaging device 3; the image processing unit is used for extracting line laser images shot by the imaging devices 3 on the two sides of the support 1, splicing the images, and performing surface defect detection and target identification on the detected object by using the image processing unit for three-dimensional reconstruction of the detected object for the acquired RGB images of the detected object; and the three-dimensional reconstruction unit obtains the coordinates of the points on the line laser plane in the world coordinate system according to the relation between the world coordinate system and the first camera coordinate system and the second camera coordinate system and the equation of the line laser plane in the world coordinate system.
The camera calibration unit is divided into an internal reference for calibrating the camera and a laser plane, and the internal reference calibration of the camera is realized by using a checkerboard calibration method; laser lines are printed on the checkerboards, intersection point coordinates of the laser lines and the checkerboards are extracted through image processing, the positions of the checkerboards are changed to carry out multiple groups of experiments, and since the intersection point coordinates are located on line laser planes, the laser plane equation can be calibrated through a least square method.
The image processing unit extracts line laser in the images shot by the first camera 312 and the second camera 322, performs image splicing, and eliminates the influence of reflection on the surface of the measured object and measurement noise on the images shot by the single camera; the third camera 331 acquires RGB images of the object to be measured, and performs surface defect detection and target recognition on the object to be measured by using the image processing unit, thereby optimizing a scanning path and facilitating three-dimensional reconstruction of the object to be measured.
The three-dimensional reconstruction unit specifically comprises: if the point P is a point in the world coordinate system, its non-homogeneous coordinates in the coordinate systems of the first camera 312 and the second camera 322 are respectively P1And P2. The world coordinate system is related to the first camera 312 coordinate system and the second camera 322 coordinate system according to the following equation:
the equation of the laser plane with the line in the world coordinate system is
z＝ax+by+c
The coordinates of the point on the line laser plane in the world coordinate system can be obtained by combining the above equations.
Wherein a, b and c are parameters of a linear laser plane equation respectively; r1And T1As an external parameter of the first camera 312, i.e. rotation and translation parameters; r2And T2Is an external parameter of the second camera 322.
The invention also provides a line laser vision three-dimensional scanning method, which specifically comprises the following steps:
and S1, calibrating the imaging device 3 and the line laser plane respectively by using the camera calibration unit and the camera imaging principle to obtain the position of the line laser plane under the camera coordinate system. The encoder 212 in the line laser generator 2 obtains the rotation angle of the line laser plane at any time, and further obtains the position of the line laser plane at any time in the camera coordinate system.
S2, the line laser generator 2 is used to irradiate the line laser onto the surface of the object to be measured, and the first camera 312 and the second camera 322 respectively collect a set of images with different viewing angles.
And S3, extracting the central line of the laser line in each image by using the image processing unit, and calculating to obtain the three-dimensional coordinates of the laser line on the surface of the measured object according to the position of the line laser plane in the camera coordinate system. The three-dimensional coordinates of the laser line acquired by the first camera 312 and the three-dimensional coordinates of the laser line acquired by the second camera 322 are subjected to data fusion, so that the measured objects with different visual angles and different depths of field can be measured, meanwhile, the problem that the single camera is susceptible to incomplete image acquisition and noise interference caused by reflection of the camera angle and the object surface is solved, and the accuracy of three-dimensional reconstruction is improved.
And S4, obtaining the coordinates of the point on the line laser plane in the world coordinate system according to the relation between the world coordinate system and the first camera coordinate system and the second camera coordinate system and the equation of the laser plane in the world coordinate system by using the three-dimensional reconstruction unit.
In practical application, the invention increases the camera acquisition range by changing the length of the camera support, so that the three-dimensional scanning device can be suitable for more complex scenes. The array type camera capable of rotating the angle can be used for increasing the depth of field of camera scanning, so that parts with different heights can be scanned under the condition that the camera is fixed. The intermediate RGB industrial camera can be used for collecting the color information of the surface of the measured object, the image processing technology is used for realizing the defect detection and object identification of the measured object, the scanning path is optimized, and the three-dimensional reconstruction of the measured object is facilitated. By utilizing the rotatable line laser projection device, the large-scale three-dimensional reconstruction of the surface of an object can be realized under the condition that the position of the device is not changed, and the problem that the measurement range of the traditional line laser sensor is small is solved.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are within the spirit of the invention and the scope of the appended claims.
Claims (10)
1. The line laser vision three-dimensional scanning device is characterized by comprising a scanning system and a data processing system:
the scanning system comprises a support (1), a line laser generating device (2) and an imaging device (3). The middle part of the bracket (1) is fixedly connected with a laser generating device (2), and two sides and the middle part are respectively and fixedly connected with an imaging device (3). The imaging devices (3) on the two sides of the support (1) are used for acquiring the imaging of the line laser on the surface of the measured object, and the imaging device (3) in the middle of the support (1) is used for acquiring the RGB image of the measured object.
The data processing system comprises a camera calibration unit, an image processing unit and a three-dimensional reconstruction unit. The camera calibration unit is used for calibrating camera internal references and line laser planes in each imaging device (3); the image processing unit is used for extracting line laser images shot by the imaging devices (3) on the two sides of the support (1), splicing the images, and performing surface defect detection and target identification on the detected object by using the image processing unit for the RGB images of the acquired detected object for three-dimensional reconstruction of the detected object; and the three-dimensional reconstruction unit obtains the coordinates of the points on the line laser plane in the world coordinate system according to the relation between the world coordinate system and the camera coordinate systems in the two imaging devices (3) and the equation of the line laser plane in the world coordinate system.
2. The line laser vision three-dimensional scanning device of claim 1, characterized in that: the imaging device (3) is divided into a first imaging device (31), a second imaging device (32) and a third imaging device (33), the first imaging device (31) and the second imaging device (32) are distributed on two sides of the support by taking the line laser generating device (2) as an axis, and the third imaging device (33) is installed in the middle of the support (1).
3. The line laser vision three-dimensional scanning device of claim 2, characterized in that: the first imaging device (31) and the second imaging device (32) are symmetrically arranged in the middle of the support (1), have the same structure and comprise a rotatable bottom plate, a camera, a filter and a rotating device. The rotatable bottom plate is fixed on the bracket (1) and is driven to rotate by the rotating device; the camera is fixedly connected to the rotatable bottom plate; an optical filter is installed below the camera.
4. The line laser vision three-dimensional scanning device of claim 3, characterized in that: the rotating device comprises a motor base, a crank, a connecting rod, a fixing plate and a motor, wherein one end of the connecting rod is connected to an optical axis vertical to the rotatable base plate through a bearing, the other end of the connecting rod is connected with one end of the crank, and the other end of the crank is connected with the motor, so that the motor drives the crank connecting rod to rotate, and the angle of the camera is adjusted; the motor is fixed on the motor base, the motor base is fixedly connected with the fixing plate, and the fixing plate is fixed on the support (1).
5. The line laser vision three-dimensional scanning device of claim 2, characterized in that: the third imaging device (33) comprises a third camera (331) and an LED light source (332). The third camera (331) is located in front of the line laser generating device (2) and fixed on the bracket (1) through screws, and the LED light source (332) is located below the third camera (331) and fixedly connected with the bracket (1).
6. The line laser vision three-dimensional scanning device of claim 3, characterized in that: the optical filter can filter out other color lights except the line laser color, so that the camera only collects the laser line data.
7. The line laser vision three-dimensional scanning device of claim 1, characterized in that: the line laser generating device (2) comprises a line laser (21), an upper synchronous belt (22), a lower synchronous belt (23), a first synchronous belt wheel (24), a second synchronous belt wheel (25), a third synchronous belt wheel (26), a fourth synchronous belt wheel (27), a left fixing frame (28), a right fixing frame (29), a rotating shaft (210), a servo motor (211) and an encoder (212). The servo motor (211) is fixed on the bracket (1) by a right fixing frame (29); the tail end of the servo motor (211) is connected with one end of an upper synchronous belt (22) through a first synchronous belt wheel (24), and the other end of the upper synchronous belt (22) is connected with a rotating shaft (210) through a second synchronous belt wheel (25) and the first synchronous belt wheel (24); the lower end of the rotating shaft (210) is fixedly connected with the line laser (21), and the line laser (21) is driven to rotate by the servo motor (211); the encoder (212) is connected with one end of the lower synchronous belt (23) by a third synchronous belt wheel (26); the other end of the lower synchronous belt (23) is connected with the rotating shaft (210) through a fourth synchronous belt wheel (27), and the rotating angle of the rotating shaft (210) is recorded in real time by an encoder (212).
8. The line laser vision three-dimensional scanning device of claim 1, characterized in that: the camera calibration unit is divided into an internal reference for calibrating the camera and a laser plane, and the internal reference calibration of the camera is realized by using a checkerboard calibration method; laser lines are printed on the checkerboards, intersection point coordinates of the laser lines and the checkerboards are extracted through image processing, the positions of the checkerboards are changed to carry out multiple groups of experiments, and since the intersection point coordinates are located on line laser planes, the laser plane equation can be calibrated through a least square method.
9. The line laser vision three-dimensional scanning device of claim 1, characterized in that: the three-dimensional reconstruction unit specifically comprises:
if the point P is a point in the world coordinate system, the inhomogeneous coordinates in the camera coordinate system of the first imaging device and the inhomogeneous coordinates in the camera coordinate system of the second imaging device are respectively P1And P2. Establishing a relationship between the world coordinate system and the camera coordinate system in the first imaging device and the camera coordinate system in the second imaging device according to the following formula:
the equation of the laser plane with the line in the world coordinate system is
z＝ax+by+c
The coordinates of the point on the line laser plane in the world coordinate system can be obtained by combining the above equations.
Wherein a, b and c are parameters of a linear laser plane equation respectively; r1And T1External parameters of a camera in the first imaging device, namely rotation and translation parameters; r2And T2Is an external parameter of a camera in the second imaging device.
10. A line laser vision three-dimensional scanning method based on the line laser vision three-dimensional scanning device of any one of claims 1 to 9, characterized in that: the method specifically comprises the following steps:
and S1, calibrating the imaging device (3) and the line laser plane respectively by using the camera calibration unit and the camera imaging principle to obtain the position of the line laser plane under the camera coordinate system. The rotation angle of the line laser plane at any time is obtained by an encoder (212) in the line laser generating device (2), and further, the position of the line laser plane at any time under a camera coordinate system is obtained.
And S2, irradiating the line laser on the surface of the measured object by using the line laser generating device (2), and respectively acquiring a group of images with different viewing angles by using the camera in the first imaging device and the camera in the second imaging device.
And S3, extracting the central line of the laser line in each image by using the image processing unit, and calculating to obtain the three-dimensional coordinates of the laser line on the surface of the measured object according to the position of the line laser plane in the camera coordinate system. The three-dimensional coordinates of the laser line acquired by the camera in the first imaging device and the three-dimensional coordinates of the laser line acquired by the camera in the second imaging device are subjected to data fusion, so that measured objects with different visual angles and different depths of field are measured, the influence of incomplete image acquisition and noise interference caused by the fact that a single camera is easily reflected by the camera angle and the object surface is solved, and the accuracy of three-dimensional reconstruction is improved.
And S4, obtaining coordinates of the point on the line laser plane in the world coordinate system according to the relation between the world coordinate system and the camera coordinate system in the first imaging device and the camera coordinate system in the second imaging device and the equation of the laser plane in the world coordinate system by using the three-dimensional reconstruction unit.
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